摘要
针对激光测距仪精度高、抗干扰能力强等优点,选用二维激光测距仪为外部传感器,辅助MIMU(微惯性测量组合)组成微小型飞行器的室内导航系统;结合留点(Residue Points)、Cox和IDC算法特点,设计了R-I-C(留点、IDC和Coxl)匹配算法组合策略(R-I-C激光扫描匹配算法),采用Kalman(卡尔曼)滤波器进行激光/MIMU融合定位;最后,在以ARM为核心处理器的硬件平台上进行定位仿真。仿真结果表明:R-I-C算法满足设计要求;激光/MIMU融合定位方法具有良好的性能,能实现微小型飞行器的室内高精度定位。
An indoor navigation system is built with MIMU （Micro-Inertial Measurement Unit） assisted by an external sensor of a 2D laser range finder for MAVs （Micro Air Vehicles） because a laser finder has high accuracy and anti-interference performance. R-I-C laser scan matching algorithm is designed incorporating the features of residue points, Cox and IDC algorithms. Kalman filter is used in laser/MIMU fusion localization. Finally, the algorithm is transplanted to an ARM hardware platform and simulation shows that R-I-C algorithm meets design requirements and, with excellent performance, laser/MIMU fusion localization facilitates high-accuracy indoor location for MAVs.
出处
《飞行器测控学报》
CSCD
2013年第4期340-344,共5页
Journal of Spacecraft TT&C Technology
基金
航空科学基金资助项目(No.20110752005)
江苏省"333"人才基金资助项目
关键词
惯性导航系统
室内定位
激光测距仪
扫描匹配
卡尔曼滤波器
Interial Navigation System （INS）
indoor location
laser range finder
scan matching
Kalman filter
